#ifndef _PID_H
#define _PID_H
#include "sys.h"

extern float Error,Last_Error,Last_last_error, a,Pwm;
extern float Error1,Last_Error1,Last_last_error1,b,Pwm1;

float PID_Calc(float kp,float ki,float kd,float Target,float Encoder);
float PID_Calc1(float kp1,float ki1,float kd1,float Target,float Encoder);
#endif


